JP-2026074564-A - Automated driving method, automated driving program, and automated driving system

Abstract

[Problem] To provide an automated driving method, an automated driving program, and an automated driving system that can efficiently move multiple work vehicles between work areas. [Solution] In the automatic driving system 1, the sequence setting processing unit 213 sets the order in which multiple work vehicles 10 start driving on the road, based on priority setting information, when there are multiple work vehicles 10 that start driving on the road. [Selection Diagram] Figure 1

Inventors

• 石川 航平
• 西井 康人
• 西別府 慎也

Assignees

• ヤンマーホールディングス株式会社

Dates

Publication Date

20260507

Application Date

20241021

Claims (12)

1. An automated driving method for automatically driving a work vehicle on a connecting path that connects multiple work areas, An automatic driving method for setting the order in which multiple work vehicles start driving on the connecting road, based on priority setting information, when there are multiple work vehicles that start driving on the connecting road.
2. The process involves starting multiple work vehicles to travel along the connecting path in the specified order. The automatic driving method according to claim 1.
3. Present the set order to the user. The automatic driving method according to claim 1.
4. When starting to travel along the aforementioned connecting path, the work vehicle is made to wait at a predetermined position in the work area. The priority setting information includes a first waiting time during which the work vehicle waits at the predetermined location. The automatic driving method according to claim 1.
5. When starting to travel along the aforementioned connecting path, the work vehicle is made to wait at a predetermined position in the work area. The priority setting information includes a second waiting time during which, when multiple work vehicles are expected to cross paths with each other while traveling along the connecting path, the work vehicles are made to wait at the predetermined location in order to avoid such crossing. The automatic driving method according to claim 1.
6. The priority setting information includes priority information that has been pre-set for each of the multiple work areas. The automatic driving method according to claim 1.
7. The aforementioned priority setting information includes priority information pre-set for each of the multiple work vehicles. The automatic driving method according to claim 1.
8. The priority setting information includes the work progress status of each of the multiple work vehicles, or the target work completion time for each of the multiple work areas. The automatic driving method according to claim 1.
9. When multiple work vehicles are expected to cross paths with each other while traveling along the connecting road, the order in which the multiple work vehicles begin traveling along the connecting road is set based on the priority setting information. An automatic driving method according to any one of claims 1 to 8.
10. When it is expected that multiple work vehicles will not cross paths with each other while traveling along the connecting path, the multiple work vehicles will start traveling along the connecting path without setting an order in which they will start traveling along the connecting path. The automatic driving method according to claim 9.
11. An automated driving program for automatically driving a work vehicle on a connecting path that connects multiple work areas, An automated driving program that causes one or more processors to perform the action of setting the order in which multiple work vehicles start traveling along the connecting path, based on priority setting information, when there are multiple work vehicles that start traveling along the connecting path.
12. An automated driving system that automatically drives a work vehicle on a connecting path that connects multiple work areas, An automated driving system comprising a setting processing unit that, when there are multiple work vehicles that start to travel along the connecting road, sets the order in which the multiple work vehicles start to travel along the connecting road based on priority setting information.

Description

This invention relates to a technology for automatically driving a work vehicle on a connecting road that links multiple work areas (fields). Conventionally, work vehicles capable of automatically driving and performing tasks within a field (work area) or automatically traveling between multiple fields are known. For example, a technique is known for temporarily stopping and waiting the work vehicle at the entrance/exit of a field when moving from one field to another (see, for example, Patent Document 1). Japanese Patent Publication No. 2021-29218 Figure 1 is a block diagram showing the configuration of an automated driving system according to an embodiment of the present invention.Figure 2 is an external view showing an example of a work vehicle according to an embodiment of the present invention.Figure 3 shows an example of a target path according to an embodiment of the present invention.Figure 4 shows an example of inter-field movement according to an embodiment of the present invention.Figure 5 shows an example of inter-field movement according to an embodiment of the present invention.Figure 6 shows an example of inter-field movement according to an embodiment of the present invention.Figure 7 shows an example of a menu screen displayed on an operating terminal according to an embodiment of the present invention.Figure 8 shows an example of an operation screen displayed on an operation terminal according to an embodiment of the present invention.Figure 9 shows an example of inter-field movement according to an embodiment of the present invention.Figure 10 shows an example of inter-field movement according to an embodiment of the present invention.Figure 11 is a flowchart showing an example of the procedure for an automated driving process performed by an automated driving system according to an embodiment of the present invention.Figure 12 is a schematic diagram showing the configuration of an automated driving system according to another embodiment of the present invention. The following embodiments are examples that embody the present invention and do not limit the technical scope of the present invention. As shown in Figure 1, the automated driving system 1 according to an embodiment of the present invention includes a plurality of work vehicles 10 and an operation terminal 20. Each work vehicle 10 and the operation terminal 20 can communicate via a communication network N1. For example, each work vehicle 10 and the operation terminal 20 can communicate via a mobile phone network, a packet network, or a wireless LAN. Note that in the automated driving system, there may be one operation terminal 20 or multiple operation terminals. The work vehicles of this invention include tractors, rice transplanters, combine harvesters, construction machinery, snowplows, etc., and each work vehicle may be of the same type or different types. In this embodiment, the case where the work vehicle 10 is a tractor will be used as an example. Each work vehicle 10 is configured to automatically travel (autonomously travel) within each field, which is the work area, according to a pre-set target route. Furthermore, each work vehicle 10 can perform predetermined tasks while automatically traveling according to the target route within each field. In addition, each work vehicle 10 is configured to automatically travel along roads (connecting roads) that connect multiple fields, according to a pre-set travel route (inter-field route). Each work vehicle 10 automatically travels along pre-set target routes and inter-field routes on roads inside and outside the fields, based on the position information of the work vehicle 10's current position calculated by the positioning unit 16. Figure 3 shows an example of a field F and a target route R set within field F. Field F has an entrance/exit, and the work vehicle 10 enters field F through the entrance/exit, performs work while automatically traveling along the target route R, and exits field F through the entrance/exit and automatically travels along the inter-field route set on the road. The entrance/exit is set based on the shape of field F, the direction of work within field F, etc. For example, the work vehicle 10A shown in Figure 4 performs predetermined tasks in field F1 while automatically traveling along a pre-set target route R (work route). Once the work in field F1 is completed, the work vehicle 10A automatically travels along road R0 along a pre-set inter-field route R12 (travel route) to field F2. For example, the work vehicle 10A automatically travels along the inter-field route R12 connecting the entrance/exit H1 of field F1 and the entrance/exit H2 of field F2. Upon arriving at field F2, the work vehicle 10A performs predetermined tasks in field F2 while automatically traveling along a pre-set target route R. For example, the work vehicle 10B shown in Figure 5 performs predetermined tasks in field F3 while automatically traveling along a pre-set target route R. Onc